3 accepted papers
Discrete-time joint acceleration bounds are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Actuator-Aware Joi…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing different terrains remains an open challenge. Most previous work …
Model Predictive Control (MPC) enables agile and robust locomotion in quadruped robots but is sensitive to model uncertainties and environmental variations. This paper presents a Tube-Based Robust MPC (TR-MPC) framework for quadruped locomotion under uncertainties, modeled as parameter mismatches an